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WorldSimReady-Home

Dataset description

CAD-based SimReady assets
_{Optimized CAD assets with configured collision and physical properties.}

Manually reviewed scenes
_{Physics configuration reviewed for every household scene.}

Scalable task generation
_{Batch simulation data across robot embodiments and tasks.}

WorldSimReady-Home is built from CAD-based object assets, optimized and enriched with physical properties to create simulation-ready assets. The assets are assembled into household scenes, each manually reviewed for correct physics configuration.

A scalable simulation task data generation framework builds on these scenes to generate data across robot embodiments and tasks.

Scene dataset statistics

Metric	Scale
Household scenes	500
Placed object entries	31,711
Rooms	4,462
Total floor area	36,601.61 m²

Task dataset statistics

Metric	Scale
Robot trajectories	1,000 episodes
Recorded frames	1,316,359
Recorded duration	12.18 hours
Recording frequency	30 Hz
RGB-D resolution	640 × 480

Visual overview

Household scenes

Explore Diverse Home Layouts

Explore RGB / Depth / Semantic

RGB	Depth	Semantic

Object assets

Explore Diverse Object Assets

Our assets include visual materials and configured physical properties for simulation.

Asset feature	Included properties
CAD-based geometry	Object geometry, transforms, and bounding boxes.
Visual materials	Textures, roughness, and metallic parameters.
Physical properties	Mass, density, static and dynamic friction, and restitution.

Robot tasks and recorded observations

Explore Recorded Observations

Dataset structure

Scene packages contain household environments and their object assets. Scene metadata describes the scene and its objects. Trajectory files store robot observations, states and action targets over time.

Scene packages

WorldSimReady-Home/
├── .gitattributes
├── README.md
├── scene/
│   ├── scene000000/
│   │   ├── scene000000.usdz
│   │   ├── scene000000_metadata.json
│   │   └── scene000000.png
│   └── ...
└── task/ ...

File	Contents
`<scene_id>.usdz`	USD scene package.
`<scene_id>_metadata.json`	Scene metadata, including object and material records.
`<scene_id>.png`	Overhead scene preview.

Task recordings

WorldSimReady-Home/
├── .gitattributes
├── README.md
├── scene/ ...
└── task/
    └── sim/
        └── pick_and_place_tasks/
            └── g1_omnipicker/
                └── pick_and_place_on_the_table/
                    ├── data/
                    │   └── chunk-000/
                    │       ├── episode_000000/
                    │       │   ├── dataset-driven_object_grasping_and_placement.hdf5
                    │       │   └── meta/
                    │       │       ├── info.json
                    │       │       ├── episodes.jsonl
                    │       │       ├── tasks.jsonl
                    │       │       └── recording_summary.json
                    │       └── ...
                    └── meta/
                        ├── info.json
                        ├── episodes.jsonl
                        ├── tasks.jsonl
                        └── manifest.jsonl

The meta/ directory alongside data/ stores dataset-level metadata and indexes. Each episode directory shown in the example contains an HDF5 trajectory file and a separate meta/ directory storing metadata for that trajectory.

HDF5 files store observations, actions and episode flags, with metadata in JSON / JSONL files. Our task dataset format is based on the RLDS format used by Open X-Embodiment.

Usage

Download the scene dataset

hf download Yootta/WorldSimReady-Home --repo-type dataset \
  --include "scene/*" --local-dir worldsimready-home

Download the task dataset

hf download Yootta/WorldSimReady-Home --repo-type dataset \
  --include "task/*" --local-dir worldsimready-home

Contributors

Shangpin Home Collection and Yootta are joint contributors to WorldSimReady-Home, supporting the development and release of the dataset.

License and citation

License: CC BY-NC-SA 4.0 , following the repository declaration.

If you use WorldSimReady-Home in your work, please cite the dataset:

@misc{world_simready_home,
  author       = {{Yootta}},
  title        = {{WorldSimReady-Home}},
  year         = {2026},
  howpublished = {\url{https://huggingface.co/datasets/Yootta/WorldSimReady-Home}}
}

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